Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning

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claus_mst_2010_192.pdf (9.46 MB)
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Christmann, Hans Claus
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Daniel Guggenheim School of Aerospace Engineering
The Daniel Guggenheim School of Aeronautics was established in 1931, with a name change in 1962 to the School of Aerospace Engineering
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http://hdl.handle.net/1853/35871
Abstract
The presented work introduces a graph based approach to model urban (or otherwise cluttered) environments for UAS utilization beyond line-of-sight as well as out of direct R/F range of the operator's control station. Making the assumption that some a priori data of the environment is available, the proposed method uses a classification of obstacles with respect to their impact on UAV motion and R/F communication and generates continuously updateable graphs usable to compute traverseable paths for UAVs while maintaining R/F communication. Using a simulated urban scenario this work shows that the proposed modeling method allows to find reachable loiter or hover areas for UAVs in order to establish a multi-hop R/F communication link between a primary UAV and its remote operator by utilizing an overlay of motion (Voronoi based) and R/F (visibility based) specific mapping methods.
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2010-08
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